Reference display systems for superimposing a tomagraphic image onto the focal plane of an operating microscope

• US 4,722,056 A
• Filed: 02/18/1986
• Issued: 01/26/1988
• Est. Priority Date: 02/18/1986
• Status: Expired due to Term

• Current Assignee: Dartmouth College, The Trustees of Dartmounth College (Dartmouth College)
• Original Assignee: The Trustees of Dartmounth College (Dartmouth College)
• Inventors: Roberts, David W., Strohbehn, John W., Hatch, John F.
• Primary Examiner(s): Smith, Jerry
• Assistant Examiner(s): NOT, DEFINED
• Application Number:
  US06/830,140
• Time in Patent Office: 707 Days
• Field of Search: 364/413, 364/415, 128/303.1, 128/303 R, 350/515, 367/99
• US Class Current: 606/130
• CPC Class Codes: A61B 2034/2051 Electromagnetic tracking systems
• CPC Class Codes: A61B 2034/2063 Acoustic tracking systems, e.g. using ultrasound
• CPC Class Codes: A61B 2090/363 Use of fiducial points
• CPC Class Codes: A61B 2090/365 augmented reality, i.e. correlating a live optical image with another image
• CPC Class Codes: A61B 2090/3929 Active markers
• CPC Class Codes: A61B 34/20 Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
• CPC Class Codes: A61B 90/10 for stereotaxic surgery, e.g. frame-based stereotaxis
• CPC Class Codes: A61B 90/20 Surgical microscopes characterised by non-optical aspects
• CPC Class Codes: A61B 90/36 Image-producing devices or illumination devices not otherwise provided for
• CPC Class Codes: G06T 11/60 Editing figures and text; Combining figures or text

Abstract

A reference display system that receives information from an imaging system (e.g., a CT scanner or the like), that extracts or derives three-dimensional anatomical and/or pathological information about a part of a body (e.g., the brain or other organ) of a patient. The information is digitized in the imaging system and is introduced to a computer that is programmed to reformat the digitized information to provide as output electric signal representative of the digitized information. An optical display system (e.g., a cathode ray tube, CRT, and related circuitry) is connected to receive the output of the computer and is operable to present the reformatted information at a determined plane during an operative procedure. An operating microscope is freely located in the operative location relative to the patient during the operative procedure, the focal plane of the microscope establishing the determined plane. A way is provided to establish the spatial relationship among the imaging system, the patient, and the focal plane of the microscope; and a mechanism is provided to project the reformatted imaging system information into the optics and onto the focal plane of the operating microscope during the operative procedure, the reformatted image being displayed as an overlay upon the optical image of the body part on which the operation is being performed.

Claims

1. A method of integrating image information from an imaging device and an operating microscope during an operative procedure on body parts of a patient comprising:

positioning an operating microscope in the course of said operative procedure at an operative location relative to the patient;

establishing the spatial relationship among the image information, the patient, and the focal plane of the microscope;

introducing the image information and spatial relationship to a computer and reformatting the image information to generate a computer-generated image of the body part at a determined plane related to the focal plane of the microscope; and

projecting the computer-generated image into the optics of the operating microscope for coordinated viewing of the computer-generated image and the patient.

2. A method according to claim 1 that that includes providing a plurality of fiducials which are physically detectable and which are disposed at a position exposed to the microscope to permit positioning of the fiducials at a fixed point in the focal plane of the microscope.

3. A method according to claim 2 comprising providing at least three fiducials.

4. A method according to claim 2 comprising providing fiducials are spatially fixed with respect to the patient to permit accurate location of anatomic and/or pathologic structures of interest.

5. A method according to claim 4 that comprises establishing the spatial relationship between the microscope, the patient, and the imaging information using a three-dimensional ultrasonic range finder whose output is digitized, the microscope being positioned in space relative to the patient by placing each fiducial sequentially at the focal point and then using an acoustic range finder to determine each respective position of the microscope relative to the respective fiducial.

16. A system according to claim 3 having three spark gaps to determine uniquely the position and orientation of the microscope with respect to the microphones.

6. A method of referencing for integrating information received from an imaging device and an operating microscope during an operative procedure on a body part of a patient, that comprises:

introducing said information to a computer which is operable to reformat the received information which is then presented as a computer-generated image of the body part at a determinable place;

positioning an operating microscope in the course of said operative procedure at an operative location relative to the patient, the focal plane of the microscope being at said determinable plane;

establishing the spatial relationship among the computer-generated image, the patient and the focal plane of the microscope; and

projecting the computer-generated image into the optics of the operating microscope.

7. A reference display system to receive information from an imaging system that extracts three-dimensional information about a part of the body of a patient, the system comprising:

an operating microscope positioned in an operative location relative to the patient;

means for establishing the spatial relationship among the imaging system information, the patient, and the focal plane of the microscope;

computer means connected to received the information from the imaging system and from said means for establishing the spatial relationship and programmed to reformat the information from the imaging system to provide an output signal representative of a computer-generated image corresponding to a determined plane having a predetermined relationship with the focal plane of the microscope; and

means to project the computer-generated image for coordinated viewing of the computer-generated image and the patient through the operating microscope.

8. Apparatus that includes the reference display system according to claim 7 and that further includes an imaging system in the form of a CT scan.

9. Apparatus that includes the reference display system according to claim 7 and that further includes an imaging system in the form of a magnetic resonance imaging (MRI) scanner.

10. Apparatus that includes the reference display system according to claim 7 and that further includes an imaging system in the form of a position emission tomography (PET) scanner.

11. Apparatus that includes the reference display system according to claim 7 that further includes an imaging system in the form of an ultrasound imaging device.

12. A system according to claim 7 in which the means for establishing the spatial relationship comprises a three-dimensional ultrasonic range finder whose output is digitized.

13. A system according to claim 12 in which the range finder operates at about 50 to 60 kHz.

14. A system according to claim 12 in which the range finder comprises a spark gap that serves as a source of sound pulses, which spark gap is located on the microscope a fixed distance from the focal plane of the microscope.

15. A system according to claim 14 having at least three microphones to establish uniquely the location of the spark gap with respect to three microphones whose positions are fixed in the operating room.

17. A system according to claim 7 that includes a plurality of fiducials which are physically detectable by the imaging system and are disposed at a position exposed to the microscope to permit positioning of the fiducials at a fixed point in the focal plane of the microscope.

18. A system according to claim 17 comprising at least three fiducials.

19. A system according to claim 17 wherein the fiducials are spatially fixed with respect to the patient to permit accurate location of anatomic and/or pathologic structures of interest.

20. A system according to claim 17 wherein the means for establishing the spatial relationship between the microscope, the patient, and the imaging information comprises a three-dimensional ultrasonic range finder whose output is digitized and wherein the microscope is positioned in space relative to the patient by placing each fiducial sequentially at the focal point and then using the acoustic range finder to determine each respective position of the microscope relative to the respective fiducial.

21. A system according to claim 20 in which the determinable plane of the image data is established by slant-range information from the acoustic range finder which determines the position of the focal plane of the microscope, that is, slant-range information and orientation information which is fed as input information to the computer means which, on the basis of the input information, establishes the position of the focal plane of the microscope relative to the patient, the slant-range distance being the distance between any spark gap and any microphone.

22. A system according to claim 7 in which the appropriate reformatted image at the determined plane, based on the imaging system information, is displayed on a cathode ray tube (CRT) which is mounted on the operating microscope in conjunction with a beam-splitting assembly in a way that a person looking through the operating microscope sees both the operative field and the reformatted image superposed upon one another.

23. A system according to claim 22 that includes an optics system between the beam splitter and the screen of the CRT so that the plane of the screen is in focus to the surgeon.

24. A system according to claim 23 wherein the appropriate reformatted image is determined by the position of the microscope image plane or such other parallel (or other) plane that the surgeon may request.

25. A system according to claim 7 in which the means for establishing the spatial relationship comprises a three-dimensional magnetic range finder system whose output is digitized.

26. A system according to claim 25 in which the range finder comprises a source and a tracker (receiver), the source being located at a fixed spatial position and the tracker being located on the microscope.

27. A system according to claim 26 in which the source comprises three electrical coils, oriented at an angle to one another, each being excited sequentially to produce a three-state magnetic field.

28. A system according to claim 26 in which the tracker determines uniquely the position and orientation of the microscope with respect to the source, and comprises three electrical coils, oriented at an angle to one another, in which three voltages are induced in the tracker system by the magnetic field for each of the source coils.

29. A system according to claim 28 in which said angle is a right angle.

30. A system according to claim 25 in which the range finder comprises a source and a tracker, the tracker being located at a fixed spatial position and the source being located on the microscope.

31. A system according to claim 30 in which the source comprises three electric coils oriented at an angle to one another, each being excited sequentially to produce a three-state magnetic field, and in which the tracker comprises three electrical coils positioned at an angle to one another and adapted to generate a voltage derived from an induced field on the basis of electromagnetic wave energy received from the source coils.

32. A system according to claim 19 wherein the means for establishing the spatial relationship between the source, the patient, and the imaging information comprises a three-dimensional magnetic range finder whose output is digitized and wherein the microscope is positioned in space relative to the imaging system by placing each fiducial sequentially at the focal point and then using the magnetic range finder to determine the position of each fiducial relative to the fixed element of the source-tracker system.

33. A system according to claim 32 in which the determinable plane of the image data is established by information from the magnetic range finder which determines the position of the focal plane of the microscope which is fed as input information to the computer means which, on the basis of the input information, establishes the position of the focal plane of the microscope in CT coordinate space.